CN111381262A - Beidou No. three precision single-point positioning parameter optimization method and device - Google Patents
Beidou No. three precision single-point positioning parameter optimization method and device Download PDFInfo
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- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
- G01S19/07—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections
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Abstract
The invention provides a method and a device for optimizing Beidou No. three precise single-point positioning parameters, which relate to the technical field of earth observation and navigation and comprise the following steps: obtain the target data that No. three satellites of big dipper sent, wherein, target data includes: beidou III B2B signal correction information, satellite observation data and satellite broadcast ephemeris data; correcting the position information of the satellite by using the target data to obtain the target position information of the satellite; refining the system deviation in the pseudo-range observation equation by using a least square rule and target position information to obtain a target pseudo-range observation equation; based on a target pseudo-range observation equation and a carrier phase observation equation, the state parameters of Kalman filtering are corrected to obtain target state parameters in the Kalman filtering process, and the technical problem that positioning and time service of a satellite are inaccurate due to various system deviations in a satellite system in the prior art is solved.
Description
Technical Field
The invention relates to the technical field of earth observation and navigation, in particular to a method and a device for optimizing Beidou No. three precise single-point positioning parameters.
Background
With the comprehensive construction of the Beidou No. three global networking satellite, a series of special services based on satellite-based augmentation, precise single-point positioning, global short message communication, international search and rescue services and the like are formed. The precise single-point positioning service is applied to various industries with the advantages of aspects, rapidness and high positioning precision, and the precise single-point positioning service of the third Beidou satellite has the characteristics that the third Beidou satellite broadcasts various correction information of the third Beidou system and other Global Navigation Satellite Systems (GNSS) by using a third Beidou geostationary orbit (GEO) satellite, and then corrects corresponding errors, so that more precise positioning and time service is provided for users in China and surrounding areas.
The Beidou third geostationary orbit (GEO) satellite broadcasts correction information such as satellite orbit correction number, satellite clock error correction number, satellite code deviation and the like on a B2B signal I branch. Due to the diversification of receiver types, the correction information of the intersymbol deviation of the receiver cannot be broadcast, and if the correction information is not carried out, the influence of the system deviation on the positioning precision and the convergence is increased, and the influence on the dynamic precise single-point positioning is particularly obvious; moreover, considering that the receiver code deviation is a system deviation with strong correlation with the receiver clock error, the receiver code deviation and the system deviation are difficult to separate, and if the receiver code deviation and the system deviation are not processed, the positioning precision, the time service precision and the convergence speed are influenced; at present, no feasible system deviation processing method exists in Beidou No. three B2B signal precise single-point positioning, and a common single-point positioning system deviation processing method is complex and difficult to realize.
No effective solution has been proposed to the above problems.
Disclosure of Invention
In view of the above, the invention aims to provide a method and a device for optimizing a Beidou No. three precise point positioning parameter, so as to solve the technical problem that positioning and time service of a satellite are inaccurate due to various system deviations in a satellite system in the prior art.
In a first aspect, an embodiment of the present invention provides a method for optimizing a precision single-point positioning parameter of beidou No. three, including: the method comprises the following steps of obtaining target data sent by a Beidou third satellite, wherein the target data comprises: beidou III B2B signal correction information, satellite observation data and satellite broadcast ephemeris data; correcting the position information of the satellite by using the target data to obtain the target position information of the satellite; refining the system deviation in the pseudo-range observation equation by using a least square rule and the target position information to obtain a target pseudo-range observation equation; and correcting the Kalman filtering state parameter based on the target pseudo-range observation equation and the carrier phase observation equation to obtain the target state parameter in the Kalman filtering process.
Further, the Beidou No. three B2B signal correction information comprises: satellite orbit correction number, satellite clock error correction number, satellite code deviation correction number and user distance precision index.
Further, the user distance accuracy index includes: a user distance accuracy grade and a user distance accuracy value;
correcting the position information of the satellite by using the target data to obtain the target position information of the satellite, wherein the method comprises the following steps: calculating the user distance precision based on the user distance precision index and a first formula, wherein the first formula is
For the purpose of the distance accuracy of the user,
for the said user's distance accuracy level,
is the user distance accuracy value; determining a current epoch satellite orbit correction vector of the satellite based on the Beidou No. three B2B signal correction information, wherein the current epoch satellite orbit correction vector comprises: radial component information of the satellite, tangential component information of the satellite, and normal component information of the satellite; and calculating the satellite position correction number by combining the satellite orbit correction vector of the current epoch, the satellite broadcast ephemeris and a second formula, wherein the second formula is
For the number of satellite position corrections,
for the purpose of said radial unit vector,
for the said tangential unit vector,
in the form of a normal unit vector,
，
for satellite position information calculated based on the satellite broadcast ephemeris data,
to calculate a satellite velocity vector at a location based on the satellite broadcast ephemeris data,
correcting a vector for the current epoch satellite orbit; determining target position information of the satellite based on the satellite position correction number and a third formula, wherein the third formula is
Is the target location information of the satellite.
Further, the method for obtaining the target pseudorange observation equation by refining the system deviation in the pseudorange observation equation by using the least square rule and the target position information comprises the following steps: constructing a ionosphere pseudo-range observation equation, wherein the ionosphere pseudo-range observation equation is
As a matter of time, the time is,
calculated for target position information based on the satellites
The geometric distance between the receiver and the satellite at the time of day,
in order to be the speed of light,
is composed of
The time of day is the difference in the receiver clock,
calculated based on said satellite clock error correction
Time-of-day satellite clock error;
in order to delay the tropospheric delay,
is composed of
Systematic offsets at time instants that include receiver intersymbol offsets,
residual observation noise at time; carrying out linearization processing on the pseudo-range observation equation of the deionization layer to obtain a linearized pseudo-range observation equation, and calculating a pseudo-range observation vector according to the linearized pseudo-range observation equation, wherein the linearized pseudo-range observation equation is
Obtaining a pseudo range observation vector after the linearization processing;
is an observation coefficient matrix;
for a parameter vector to be estimated, the parameter vector to be estimated comprises: the position of the receiver, the receiver clock error and the tropospheric parameters,
residual error after linearization processing; optimizing the parameter vector to be estimated and the system deviation based on a least square rule expression and the linearized pseudo-range observation vector to obtain an optimized parameter vector to be estimated and an optimized system deviation, wherein the least square rule expression is
Said optimized
Parameter vector to be estimated at time
Said optimized receiver intersymbol offset
，
Is a matrix of the units,
in order to observe the error, the error is observed,
is the observation weight;
is a weight of the systematic deviation and is,
is a balance factor. Substituting the optimized system deviation into the deionization layer pseudo-range observation equation to obtain the target pseudo-range observation equation, wherein the target pseudo-range observation equation is
。
Further, based on the target pseudorange observation equation and the carrier phase observation equation, modifying the state parameter of the Kalman filtering to obtain a target state parameter in the Kalman filtering process, including: determining a target time in a Kalman filtering process based on the target pseudo-range observation equation and the carrier phase observation equation, wherein the target time comprises: the initial moment of Kalman filtering, the moment of cycle slip in the Kalman filtering process, and the moment of gross error in the Kalman filtering process; replacing the parameter vector to be estimated corresponding to the target moment with the optimized parameter vector to be estimated corresponding to the target moment; and determining the optimized parameter vector to be estimated corresponding to the target moment as the target state parameter.
In a second aspect, an embodiment of the present invention provides a big dipper No. three precision single-point positioning parameter optimization device, including: the device comprises an acquisition unit, a first correction unit, a refinement unit and a second correction unit, wherein the acquisition unit is used for acquiring target data sent by a Beidou satellite III, and the target data comprises: beidou III B2B signal correction information, satellite observation data and satellite broadcast ephemeris data; the first correcting unit is configured to correct the position information of the satellite by using the target data to obtain target position information of the satellite; the refinement unit is used for carrying out refinement processing on the system deviation in the pseudo-range observation equation by using a least square rule and the target position information to obtain a target pseudo-range observation equation; and the second correction unit is used for correcting the Kalman filtering state parameter based on the target pseudo-range observation equation and the carrier phase observation equation to obtain the target state parameter in the Kalman filtering process.
Further, the Beidou No. three B2B signal correction information comprises: the method comprises the following steps of satellite orbit correction, satellite clock error correction, satellite code deviation correction and user distance precision indexes, wherein the user distance precision indexes comprise: a user distance accuracy grade and a user distance accuracy value; the first correction unit is configured to: correcting the position information of the satellite by using the target data to obtain the target position information of the satellite, wherein the method comprises the following steps: calculating the user distance precision based on the user distance precision index and a first formula, wherein the first formula is
For the purpose of the distance accuracy of the user,
for the said user's distance accuracy level,
is the user distance accuracy value; determining a current epoch satellite orbit correction vector of the satellite based on the Beidou No. three B2B signal correction information, wherein the current epoch satellite orbit correction vector comprises: radial component information of the satellite, tangential component information of the satellite, and normal component information of the satellite; and calculating the satellite position correction number by combining the satellite orbit correction vector of the current epoch, the satellite broadcast ephemeris and a second formula, wherein the second formula is
，
For the number of satellite position corrections,
for the purpose of said radial unit vector,
for said tangential unit vector, radial unit vector
Tangential unit vector
Sum normal unit vector
，
，
For satellite position information calculated based on the satellite broadcast ephemeris data,
to calculate a satellite velocity vector at a location based on the satellite broadcast ephemeris data,
correcting a vector for the current epoch satellite orbit; determining target position information of the satellite based on the satellite position correction number and a third formula, wherein the third formula is
Is the target location information of the satellite.
Further, the refinement unit is configured to: constructing a ionosphere pseudo-range observation equation, wherein the ionosphere pseudo-range observation equation is
As a matter of time, the time is,
calculated for target position information based on the satellites
The geometric distance between the receiver and the satellite at the time of day,
in order to be the speed of light,
the time of day is the difference in the receiver clock,
calculated based on said satellite clock error correction
Time-of-day satellite clock error;
in order to delay the tropospheric delay,
systematic offsets at time instants that include receiver intersymbol offsets,
residual observation noise at time; carrying out linearization processing on the pseudo-range observation equation of the deionization layer to obtain a linearized pseudo-range observation equation, and calculating a pseudo-range observation vector according to the linearized pseudo-range observation equation, wherein the linearized pseudo-range observation equation is
Obtaining a pseudo range observation vector after the linearization processing;
is an observation coefficient matrix;
for a parameter vector to be estimated, the parameter vector to be estimated comprises: the position of the receiver, the receiver clock error and the tropospheric parameters,
residual error after linearization processing; optimizing the parameter vector to be estimated and the system deviation based on a least square rule expression and the linearized pseudo-range observation vector to obtain an optimized parameter vector to be estimated and an optimized system deviation, wherein the least square rule expression is
Said optimized
Parameter vector to be estimated at time
Said optimized receiver intersymbol offset
，
Is a matrix of the units,
in order to observe the error, the error is observed,
is the observation weight;
is a weight of the systematic deviation and is,
is a balance factor; substituting the optimized system deviation into the deionization layer pseudo-range observation equation to obtain the target pseudo-range observation equation, wherein the target pseudo-range observation equation is
。
In a third aspect, an embodiment of the present invention provides a terminal, including a memory and a processor, where the memory is used to store a program that supports the processor to execute the method in the first aspect, and the processor is configured to execute the program stored in the memory.
In a fourth aspect, the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to perform the steps of the method in the first aspect.
In the embodiment of the invention, the satellite position correction parameters are carried out by acquiring the correction information and the real-time observation data of each satellite broadcast in real time through a user distance precision, the pseudo-range observation equation of the ionosphere is reconstructed, the satellite position is refined, the parameter vector to be estimated and the system deviation are solved according to the compensation least square method, the optimized parameter vector to be estimated and the optimized system deviation are obtained, then the optimized parameter vector to be estimated and the optimized system deviation are combined with Kalman filtering, and the state parameters of the Kalman filtering are optimized, so that the aim of optimizing various system deviations in a satellite system is fulfilled, the technical problem that the positioning and time service of the satellite are inaccurate due to the various system deviations in the satellite system in the prior art is solved, and the technical effect of improving the positioning and time service accuracy of the satellite is realized.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a flow chart of a precise single-point positioning parameter optimization method for Beidou No. three provided by the embodiment of the invention;
fig. 2 is a flowchart of a method for correcting position information of a beidou satellite No. three according to an embodiment of the present invention;
FIG. 3 is a diagram illustrating a method for refining system bias according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a method for correcting a state parameter of Kalman filtering according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a precise single-point positioning parameter optimization device for beidou No. three provided by the embodiment of the invention.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The first embodiment is as follows:
according to an embodiment of the present invention, an embodiment of a method for optimizing the precise single-point positioning parameter of beidou No. three is provided, it should be noted that the steps illustrated in the flowchart of the attached drawings may be executed in a computer system such as a set of computer executable instructions, and although a logical order is illustrated in the flowchart, in some cases, the steps illustrated or described may be executed in an order different from that here.
Fig. 1 is a flowchart of a method for optimizing a precise single-point positioning parameter of beidou No. three according to an embodiment of the present invention, as shown in fig. 1, the method includes the following steps:
step S102, acquiring target data sent by a Beidou satellite III, wherein the target data comprises: beidou III B2B signal correction information, satellite observation data and satellite broadcast ephemeris data;
it should be noted that the Beidou No. three B2B signal correction information includes: satellite orbit correction number, satellite clock error correction number, satellite code deviation correction number, user distance accuracy index, and user distance accuracy index includes: user distance accuracy grade, user distance accuracy value.
It should be noted that the satellite observation data and the satellite broadcast ephemeris data are transmitted from the satellite through two signals B1C and B2 a.
Step S104, correcting the position information of the satellite by using the target data to obtain the target position information of the satellite;
step S106, refining the system deviation in the pseudo-range observation equation by using a least square rule and the target position information to obtain a target pseudo-range observation equation;
and S108, correcting the Kalman filtering state parameter based on the target pseudo-range observation equation and the carrier phase observation equation to obtain the target state parameter in the Kalman filtering process.
In the embodiment of the invention, the satellite position correction parameters are carried out by acquiring the correction information and the real-time observation data of each satellite broadcast in real time through a user distance precision, the pseudo-range observation equation of the ionosphere is reconstructed, the satellite position is refined, the parameter vector to be estimated and the system deviation are solved according to the compensation least square method, the optimized parameter vector to be estimated and the optimized system deviation are obtained, then the optimized parameter vector to be estimated and the optimized system deviation are combined with Kalman filtering, and the state parameters of the Kalman filtering are optimized, so that the aim of optimizing various system deviations in a satellite system is fulfilled, the technical problem that the positioning and time service of the satellite are inaccurate due to the various system deviations in the satellite system in the prior art is solved, and the technical effect of improving the positioning and time service accuracy of the satellite is realized.
In the embodiment of the present invention, as shown in fig. 2, step S104 includes the following steps:
step S11, calculating the user distance precision based on the user distance precision index and a first formula, wherein the first formula is
For the purpose of the distance accuracy of the user,
for the said user's distance accuracy level,
is the user distance accuracy value;
step S12, determining a current epoch satellite orbit correction vector of the satellite based on the Beidou III B2B signal correction information, wherein the current epoch satellite orbit correction vector comprises: radial component information of the satellite, tangential component information of the satellite, and normal component information of the satellite;
step S13, calculating the satellite position correction number by combining the current epoch satellite orbit correction vector, the satellite broadcast ephemeris and a second formula, wherein the second formula is
For the number of satellite position corrections,
for the purpose of said radial unit vector,
for the said tangential unit vector,
in the form of a normal unit vector,
，
for satellite position information calculated based on the satellite broadcast ephemeris data,
to calculate a satellite velocity vector at a location based on the satellite broadcast ephemeris data,
correcting a vector for the current epoch satellite orbit;
step S14, determining the target position information of the satellite based on the satellite position correction number and a third formula, wherein the third formula is
Is the target location information of the satellite.
In the embodiment of the invention, the satellite is a beidou GEO satellite, and the above steps are explained.
In order to improve the accuracy of positioning the Beidou No. three GEO satellite, the position information of the Beidou No. three GEO satellite needs to be corrected, and firstly, a formula is substituted into the position information based on a user distance precision index
In (1), calculating the user distance accuracy
For the user to be in the range accuracy class,
is the user distance accuracy value.
And then, determining the satellite orbit correction vector of the current epoch of the satellite according to the correction information and the satellite broadcast ephemeris data.
It should be noted that the current epoch satellite orbit correction vector includes: radial component information of the satellite, tangential component information of the satellite, and normal component information of the satellite.
Then, combining the satellite orbit correction vector of the current epoch, the satellite broadcast ephemeris and a second formula to calculate the satellite position correction number, wherein the second formula is
Is the number of position corrections for the satellite,
in the form of a radial unit vector,
is a tangential unit vector, a radial unit vector
Tangential unit vector
Sum normal unit vector
，
For satellite position information calculated based on satellite broadcast ephemeris data,
to calculate a satellite velocity vector based on satellite broadcast ephemeris data,
correcting a vector for the satellite orbit of the current epoch;
finally, after the satellite position correction number is calculated, the satellite position correction number is substituted into a third formula
Thereby obtaining target position information of the satellite
。
By using the user distance precision to carry out data preprocessing of satellite position correction parameter reliability inspection, the accuracy and the reliability of positioning a satellite can be effectively improved.
In the embodiment of the present invention, as shown in fig. 3, step S106 includes the following steps:
step S21, constructing a ionosphere pseudo-range observation equation, wherein the ionosphere pseudo-range observation equation is
As a matter of time, the time is,
calculated for target position information based on the satellites
The geometric distance between the receiver and the satellite at the time of day,
in order to be the speed of light,
the time of day is the difference in the receiver clock,
calculated based on said satellite clock error correction
Time-of-day satellite clock error;
in order to delay the tropospheric delay,
systematic offsets at time instants that include receiver intersymbol offsets,
residual observation noise at time;
step S22, carrying out linearization processing on the pseudo-range observation equation of the deionization layer to obtain a linearized pseudo-range observation equation, and calculating a pseudo-range observation vector according to the linearized pseudo-range observation equation, wherein the linearized pseudo-range observation equation is
Obtaining a pseudo range observation vector after the linearization processing;
is an observation coefficient matrix;
for a parameter vector to be estimated, the parameter vector to be estimated comprises: the position of the receiver, the receiver clock error and the tropospheric parameters,
residual error after linearization processing;
step S23, based on the least square rule expression and the linearized pseudo-range observation vector, optimizing the parameter vector to be estimated and the system deviation to obtain the optimized parameter vector to be estimated and the optimized system deviation, wherein the least square rule expression is
Said optimized
Parameter vector to be estimated at time
Said optimized receiver intersymbol offset
Is a matrix of the units,
in order to observe the error, the error is observed,
is the observation weight;
is a weight of the systematic deviation and is,
is a balance factor;
step S24, substituting the optimized system deviation into the deionization layer pseudo-range observation equation to obtain the target pseudo-range observation equation, wherein the target pseudo-range observation equation is
，
。
In the embodiment of the invention, firstly, a pseudo-range observation equation of the deionization layer needs to be constructed.
In the precise single-point positioning ionosphere pseudo-range observation equation of the Beidou III, the main errors comprise troposphere delay and receiver clock error, the errors can be used as unknown parameters for estimation, and meanwhile, the system deviation with the receiver code deviation is difficult to separate or directly carry out parameter estimation, so that the optimization can be carried out by adopting the following steps:
the cancellation electric stratum pseudo-range observation equation is subjected to linearization processing to obtain a linearized pseudo-range observation equation of
The pseudo range observation vector is subjected to linearization processing;
is an observation coefficient matrix;
for the parameter vector to be estimated, the parameter vector to be estimated comprises: the position of the receiver, the receiver clock error and the tropospheric parameters,
linearizing the processed pseudorange observation vector according to the linearized pseudorange observation equation
。
After the pseudo-range observation vector is determined, the pseudo-range observation vector after least square rule expression and linearization is optimized for the parameter vector to be estimated and the system deviation, and the optimized parameter vector to be estimated and the optimized system deviation are obtained.
The least square law expression is
After optimization
Parameter vector to be estimated at time
Optimized receiver intersymbol bias
Is a matrix of the units,
in order to observe the error, the error is observed,
is the observation weight;
is a weight of the systematic deviation and is,
is a balance factor.
It should be noted that, for the observed systematic error of the same type of Beidou satellite III (mainly MEO satellite) and the systematic error is basically unchanged in a short time, the set is an identity matrix, and the identity matrix is used
Indicating, in addition, a balance factor
Play as a pair
And
the equilibrium of (a) can be solved by an L-curve.
After the optimized parameter vector to be estimated and the optimized system deviation are calculated, the solved optimized system deviation is substituted into a deionization layer pseudo-range observation equation to obtain a target pseudo-range observation equation, and the target pseudo-range observation equation is more stable and reliable compared with a pseudo-range observation equation.
The influence of the systematic deviation containing the receiver inter-code deviation on an error equation and parameter estimation can be reduced by taking the systematic deviation containing the receiver inter-code deviation as a nonparametric unknown compensation vector and then carrying out systematic deviation refinement processing according to a compensation least square criterion.
In the embodiment of the present invention, as shown in fig. 4, step S108 includes the following steps:
step S31, determining a target time in a Kalman filtering process based on the target pseudo-range observation equation and the carrier phase observation equation, wherein the target time comprises: the initial moment of Kalman filtering, the moment of cycle slip in the Kalman filtering process, and the moment of gross error in the Kalman filtering process;
step S32, replacing the parameter vector to be estimated corresponding to the target moment with the optimized parameter vector to be estimated corresponding to the target moment;
step S33, determining the optimized parameter vector to be estimated corresponding to the target time as the target state parameter.
In the embodiment of the invention, after the target pseudo-range observation equation is obtained, the target pseudo-range observation equation and the carrier phase observation equation need to be combined to determine the initial moment of Kalman filtering, the moment of cycle slip in the Kalman filtering process and the moment of gross error in the Kalman filtering process.
And then replacing the parameter vector to be estimated corresponding to the target moment with the optimized parameter vector to be estimated corresponding to the target moment, and determining the optimized parameter vector to be estimated corresponding to the target moment as the target state parameter.
Since the initial filtering value precision has a certain influence on the parameter estimation precision and convergence performance, the parameter vector to be estimated corresponding to the abnormal positioning time, such as the initial filtering time, the cycle slip occurring time, and the like, needs to be corrected and replaced by the optimized parameter vector to be estimated corresponding to the time, and only the position, the troposphere and the receiver clock error component in the optimized parameter vector to be estimated are extracted to be replaced and corrected in consideration of the uncertainty of the ambiguity parameters.
By replacing the parameter vector to be estimated corresponding to the target moment with the optimized parameter vector to be estimated corresponding to the target moment, unnecessary filtering iteration time increased by inaccurate state and initial state value of the traditional Kalman filtering is avoided, and the precision single-point positioning convergence speed is improved. The method is simple in algorithm and easy to implement, can effectively solve the problem of system deviation, is not limited to the application of Beidou No. three precise single-point positioning, can be expanded to the improvement of the precise single-point positioning performance of a multi-GNSS system, and can improve the positioning precision and the convergence speed and greatly improve the time service performance of the Beidou No. three precise single-point positioning.
Example two:
the embodiment of the invention also provides a Beidou No. three precision single-point positioning parameter optimization device, which is used for executing the Beidou No. three precision single-point positioning parameter optimization method provided by the embodiment of the invention, and the following is a specific introduction of the Beidou No. three precision single-point positioning parameter optimization device provided by the embodiment of the invention.
As shown in fig. 5, fig. 5 is a schematic diagram of the third big dipper precision single-point positioning parameter optimization device, and the third big dipper precision single-point positioning parameter optimization device includes: an acquisition unit 10, a first correction unit 20, a refinement unit 30 and a second correction unit 40.
The acquiring unit 10 is configured to acquire target data sent by a third Beidou satellite, where the target data includes: beidou III B2B signal correction information, satellite observation data and satellite broadcast ephemeris data;
the first correcting unit 20 is configured to correct the position information of the satellite by using the target data, so as to obtain target position information of the satellite;
the refinement unit 30 is configured to refine the system deviation in the pseudo-range observation equation by using a least square rule and the target position information to obtain a target pseudo-range observation equation;
and the second correcting unit 40 is configured to correct the Kalman filtering state parameter based on the target pseudorange observation equation and the carrier phase observation equation, so as to obtain a target state parameter in the Kalman filtering process.
In the embodiment of the invention, the satellite position correction parameters are carried out by acquiring the correction information and the real-time observation data of each satellite broadcast in real time through a user distance precision, the pseudo-range observation equation of the ionosphere is reconstructed, the satellite position is refined, the parameter vector to be estimated and the system deviation are solved according to the compensation least square method, the optimized parameter vector to be estimated and the optimized system deviation are obtained, then the optimized parameter vector to be estimated and the optimized system deviation are combined with Kalman filtering, and the state parameters of the Kalman filtering are optimized, so that the aim of optimizing various system deviations in a satellite system is fulfilled, the technical problem that the positioning and time service of the satellite are inaccurate due to the various system deviations in the satellite system in the prior art is solved, and the technical effect of improving the positioning and time service accuracy of the satellite is realized.
Preferably, the beidou No. three B2B signal correction information includes: the method comprises the following steps of satellite orbit correction, satellite clock error correction, satellite code deviation correction and user distance precision indexes, wherein the user distance precision indexes comprise: a user distance accuracy grade and a user distance accuracy value; the first correction unit is configured to: correcting the position information of the satellite by using the target data to obtain the target position of the satelliteThe method comprises the following steps: calculating the user distance precision based on the user distance precision index and a first formula, wherein the first formula is
For the purpose of the distance accuracy of the user,
for the said user's distance accuracy level,
is the user distance accuracy value; determining a current epoch satellite orbit correction vector of the satellite based on the Beidou No. three B2B signal correction information, wherein the current epoch satellite orbit correction vector comprises: radial component information of the satellite, tangential component information of the satellite, and normal component information of the satellite; and calculating the satellite position correction number by combining the satellite orbit correction vector of the current epoch, the satellite broadcast ephemeris and a second formula, wherein the second formula is
For the number of satellite position corrections,
for the purpose of said radial unit vector,
for the said tangential unit vector,
in the form of a normal unit vector,
，
for satellite position information calculated based on the satellite broadcast ephemeris data,
to calculate a satellite velocity vector at a location based on the satellite broadcast ephemeris data,
correcting a vector for the current epoch satellite orbit; determining target position information of the satellite based on the satellite position correction number and a third formula, wherein the third formula is
Is the target location information of the satellite.
Preferably, the refinement unit is configured to: constructing a ionosphere pseudo-range observation equation, wherein the ionosphere pseudo-range observation equation is
As a matter of time, the time is,
calculated for target position information based on the satellites
The geometric distance between the receiver and the satellite at the time of day,
the time of day is the difference in the receiver clock,
calculated based on said satellite clock error correction
Time-of-day satellite clock error;
in order to delay the tropospheric delay,
including receiver at time of dayThe systematic deviation of the inter-code deviation,
residual observation noise at time; carrying out linearization processing on the pseudo-range observation equation of the deionization layer to obtain a linearized pseudo-range observation equation, and calculating a pseudo-range observation vector according to the linearized pseudo-range observation equation, wherein the linearized pseudo-range observation equation is
Obtaining a pseudo range observation vector after the linearization processing;
is an observation coefficient matrix;
for a parameter vector to be estimated, the parameter vector to be estimated comprises: the position of the receiver, the receiver clock error and the tropospheric parameters,
residual error after linearization processing; optimizing the parameter vector to be estimated and the system deviation based on a least square rule expression and the linearized pseudo-range observation vector to obtain an optimized parameter vector to be estimated and an optimized system deviation, wherein the least square rule expression is
Said optimized
Parameter vector to be estimated at time
Said optimized receiver intersymbol offset
，
，
Is a matrix of the units,
in order to observe the error, the error is observed,
is the observation weight;
is a weight of the systematic deviation and is,
is a balance factor; substituting the optimized system deviation into the deionization layer pseudo-range observation equation to obtain the target pseudo-range observation equation, wherein the target pseudo-range observation equation is
。
Preferably, the second optimization unit is configured to: determining a target time in a Kalman filtering process based on the target pseudo-range observation equation and the carrier phase observation equation, wherein the target time comprises: the initial moment of Kalman filtering, the moment of cycle slip in the Kalman filtering process, and the moment of gross error in the Kalman filtering process; replacing the parameter vector to be estimated corresponding to the target moment with the optimized parameter vector to be estimated corresponding to the target moment; and determining the optimized parameter vector to be estimated corresponding to the target moment as the target state parameter.
Example three:
the embodiment of the present invention further provides a terminal, which includes a memory and a processor, where the memory is used to store a program that supports the processor to execute the method in the first embodiment, and the processor is configured to execute the program stored in the memory.
Example four:
the embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the computer program performs the steps of the method in the first embodiment.
In addition, in the description of the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A Beidou No. three precision single-point positioning parameter optimization method is characterized by comprising the following steps:
the method comprises the following steps of obtaining target data sent by a Beidou third satellite, wherein the target data comprises: beidou III B2B signal correction information, satellite observation data and satellite broadcast ephemeris data;
correcting the position information of the satellite by using the target data to obtain the target position information of the satellite;
refining the system deviation in the pseudo-range observation equation by using a least square rule and the target position information to obtain a target pseudo-range observation equation;
and correcting the Kalman filtering state parameter based on the target pseudo-range observation equation and the carrier phase observation equation to obtain the target state parameter in the Kalman filtering process.
2. The method of claim 1, wherein the beidou No. three B2B signal correction information comprises: satellite orbit correction number, satellite clock error correction number, satellite code deviation correction number and user distance precision index.
3. The method of claim 2, wherein the user distance accuracy index comprises: a user distance accuracy grade and a user distance accuracy value;
correcting the position information of the satellite by using the target data to obtain the target position information of the satellite, wherein the method comprises the following steps:
calculating the user distance precision based on the user distance precision index and a first formula, wherein the first formula is
，
For the purpose of the distance accuracy of the user,
for the said user's distance accuracy level,
is the user distance accuracy value;
determining a current epoch satellite orbit correction vector of the satellite based on the Beidou No. three B2B signal correction information, wherein the current epoch satellite orbit correction vector comprises: radial component information of the satellite, tangential component information of the satellite, and normal component information of the satellite;
and calculating the satellite position correction number by combining the satellite orbit correction vector of the current epoch, the satellite broadcast ephemeris and a second formula, wherein the second formula is
，
For the number of satellite position corrections,
in the form of a radial unit vector,
，
in the form of a tangential unit vector,
in the form of a normal unit vector,
，
for satellite position information calculated based on the satellite broadcast ephemeris data,
to calculate a satellite velocity vector at a location based on the satellite broadcast ephemeris data,
for the current epoch satelliteA track correction vector;
determining the target position information of the satellite based on the satellite position correction number, the user distance precision and a third formula, wherein the third formula is
，
Is the target location information of the satellite.
4. The method of claim 3, wherein refining the system bias in the pseudorange observation equations using least squares and the target location information to obtain target pseudorange observation equations comprises:
constructing a ionosphere pseudo-range observation equation, wherein the ionosphere pseudo-range observation equation is
，
As a matter of time, the time is,
calculated for target position information based on the satellites
The geometric distance between the receiver and the satellite at the time of day,
in order to be the speed of light,
is composed of
The time of day is the difference in the receiver clock,
calculated based on said satellite clock error correction
Time-of-day satellite clock error;
in order to delay the tropospheric delay,
is composed of
Systematic offsets at time instants that include receiver intersymbol offsets,
is composed of
Residual observation noise at time;
carrying out linearization processing on the pseudo-range observation equation of the deionization layer to obtain a linearized pseudo-range observation equation, and calculating a pseudo-range observation vector according to the linearized pseudo-range observation equation, wherein the linearized pseudo-range observation equation is
，
Obtaining a pseudo range observation vector after the linearization processing;
is an observation coefficient matrix;
for a parameter vector to be estimated, the parameter vector to be estimated comprises: the position of the receiver, the receiver clock error and the tropospheric parameters,
residual error after linearization processing;
optimizing the parameter vector to be estimated and the system deviation based on a least square rule expression and the linearized pseudo-range observation vector to obtain an optimized parameter vector to be estimated and an optimized system deviation, wherein the least square rule expression is
Said optimized
Parameter vector to be estimated at time
Said optimized receiver intersymbol offset
，
，
，
Is a matrix of the units,
in order to observe the error, the error is observed,
is the observation weight;
is a weight of the systematic deviation and is,
is a balance factor;
substituting the optimized system deviation into the deionization layer pseudo-range observation equation to obtain the target pseudo-range observation equation, wherein the target pseudo-range observation equation is
。
5. The method of claim 4, wherein modifying the Kalman filtering state parameter based on the target pseudorange observation equation and the carrier phase observation equation to obtain a target state parameter in the Kalman filtering process comprises:
determining a target time in a Kalman filtering process based on the target pseudo-range observation equation and the carrier phase observation equation, wherein the target time comprises: the initial moment of Kalman filtering, the moment of cycle slip in the Kalman filtering process, and the moment of gross error in the Kalman filtering process;
replacing the parameter vector to be estimated corresponding to the target moment with the optimized parameter vector to be estimated corresponding to the target moment;
and determining the optimized parameter vector to be estimated corresponding to the target moment as the target state parameter.
6. The utility model provides a precision single point location parameter optimization device No. three big dipper, its characterized in that includes: an acquisition unit, a first correction unit, a refinement unit and a second correction unit, wherein,
the acquisition unit is used for acquiring target data sent by a Beidou satellite III, wherein the target data comprises: beidou III B2B signal correction information, satellite observation data and satellite broadcast ephemeris data;
the first correcting unit is configured to correct the position information of the satellite by using the target data to obtain target position information of the satellite;
the refinement unit is used for carrying out refinement processing on the system deviation in the pseudo-range observation equation by using a least square rule and the target position information to obtain a target pseudo-range observation equation;
and the second correction unit is used for correcting the Kalman filtering state parameter based on the target pseudo-range observation equation and the carrier phase observation equation to obtain the target state parameter in the Kalman filtering process.
7. The apparatus of claim 6, wherein the Beidou No. three B2B signal correction information comprises: the method comprises the following steps of satellite orbit correction, satellite clock error correction, satellite code deviation correction and user distance precision indexes, wherein the user distance precision indexes comprise: a user distance accuracy grade and a user distance accuracy value; the first correction unit is configured to:
correcting the position information of the satellite by using the target data to obtain the target position information of the satellite, wherein the method comprises the following steps:
calculating the user distance precision based on the user distance precision index and a first formula, wherein the first formula is
，
For the purpose of the distance accuracy of the user,
for the said user's distance accuracy level,
is the user distance accuracy value;
determining a current epoch satellite orbit correction vector of the satellite based on the Beidou No. three B2B signal correction information, wherein the current epoch satellite orbit correction vector comprises: radial component information of the satellite, tangential component information of the satellite, and normal component information of the satellite;
and calculating the satellite position correction number by combining the satellite orbit correction vector of the current epoch, the satellite broadcast ephemeris and a second formula, wherein the second formula is
，
For the number of satellite position corrections,
for the purpose of said radial unit vector,
，
for the said tangential unit vector,
in the form of a normal unit vector,
，
，
for satellite position information calculated based on the satellite broadcast ephemeris data,
to calculate a satellite velocity vector at a location based on the satellite broadcast ephemeris data,
correcting a vector for the current epoch satellite orbit;
determining the target position information of the satellite based on the satellite position correction number, the user distance precision and a third formula, wherein the third formula is
，
Is the target location information of the satellite.
8. The apparatus of claim 7, wherein the refinement unit is configured to:
constructing a ionosphere pseudo-range observation equation, wherein the ionosphere pseudo-range observation equation is
，
As a matter of time, the time is,
calculated for target position information based on the satellites
The geometric distance between the receiver and the satellite at the time of day,
in order to be the speed of light,
is composed of
The time of day is the difference in the receiver clock,
calculated based on said satellite clock error correction
Time-of-day satellite clock error;
in order to delay the tropospheric delay,
is composed of
Systematic offsets at time instants that include receiver intersymbol offsets,
is composed of
Residual observation noise at time;
carrying out linearization processing on the pseudo-range observation equation of the deionization layer to obtain a linearized pseudo-range observation equation, and calculating a pseudo-range observation vector according to the linearized pseudo-range observation equation, wherein the linearized pseudo-range observation equation is
Obtaining a pseudo range observation vector after the linearization processing;
is an observation coefficient matrix;
for a parameter vector to be estimated, the parameter vector to be estimated comprises: the position of the receiver, the receiver clock error and the tropospheric parameters,
residual error after linearization processing;
optimizing the parameter vector to be estimated and the system deviation based on a least square rule expression and the linearized pseudo-range observation vector to obtain an optimized parameter vector to be estimated and an optimized system deviation, wherein the least square rule expression is
Said optimized
Parameter vector to be estimated at time
Said optimized receiver intersymbol offset
，
，
Is a matrix of the units,
in order to observe the error, the error is observed,
is the observation weight;
is a weight of the systematic deviation and is,
is a balance factor;
substituting the optimized system deviation into the deionization layer pseudo-range observation equation to obtain the target pseudo-range observation equation, wherein the target pseudo-range observation equation is
。
9. A terminal, comprising a memory for storing a program that enables the processor to perform the method of any of claims 1 to 5 and a processor configured to execute the program stored in the memory.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method according to any one of the claims 1 to 5.
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